A Study of the Magnetically Active Objects Motion in a Closed Channel Under the Influence of Magnetic Force

The paper examines various models of the motion of magnetically active micro objects under the influence of a magnetic field generated by a moving permanent magnet. A mathematical model is proposed that describes the controlled motion of a spherical microrobot within a closed channel that simulates a vessel cavity. A key feature of the model is its ability to simulate the complex magnetic interactions between the permanent magnet and the investigated object, leading to intricate motions of the microrobot. The results of studying various motion modes are presented, and a comparative analysis is performed with the results of full-scale experiments conducted on a laboratory bench.